UPBGE: Fix inertia form factor.

The "Form Factor" UI value was not working anymore since a long time, this was caused by the fact that UpdateCcdPhysicsController was always called on conversion and that this function recalculated the inertia tensor without the factor. In this bug two parts are fixed, first the factor is applied properly everytime setMassProps is called. Secondly the call to UpdateCcdPhysicsController is avoided during conversion. This call was proceeded because the functions SetUserCollision[Group/mask] are calling RefreshCollisions. To avoid these calls the collision group and mask are moved fully to physics part, now KX_GameObject is reading and setting these bitmask from the PHY_IPhysicsController API. The group and mask is initialized along physics controller in ConvertObject function.
UPBGE · Nov 17, 2017 · ca95d10 · ca95d10
1 parent 4326995
commit ca95d10
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Showing 11 changed files with 106 additions and 88 deletions.
diff --git a/source/blender/makesrna/intern/rna_object.c b/source/blender/makesrna/intern/rna_object.c
@@ -1875,7 +1875,7 @@ static void rna_def_object_game_settings(BlenderRNA *brna)
 
 	prop = RNA_def_property(srna, "form_factor", PROP_FLOAT, PROP_NONE);
 	RNA_def_property_float_sdna(prop, NULL, "formfactor");
-	RNA_def_property_range(prop, 0.0, 1.0);
+	RNA_def_property_range(prop, 0.0, 1000.0);
 	RNA_def_property_float_default(prop, 0.4f);
 	RNA_def_property_ui_text(prop, "Form Factor", "Form factor scales the inertia tensor");
 

diff --git a/source/gameengine/Converter/BL_BlenderDataConversion.cpp b/source/gameengine/Converter/BL_BlenderDataConversion.cpp
@@ -710,15 +710,9 @@ static void BL_CreatePhysicsObjectNew(KX_GameObject *gameobj, Object *blenderobj
 {
 	// Object has physics representation?
 	if (!(blenderobject->gameflag & OB_COLLISION)) {
-		// Respond to all collisions so that Near sensors work on No Collision objects.
-		gameobj->SetUserCollisionGroup(0xffff);
-		gameobj->SetUserCollisionMask(0xffff);
 		return;
 	}
 
-	gameobj->SetUserCollisionGroup(blenderobject->col_group);
-	gameobj->SetUserCollisionMask(blenderobject->col_mask);
-
 	Object *parent = blenderobject->parent;
 
 	bool isCompoundChild = false;

diff --git a/source/gameengine/Expressions/EXP_PyObjectPlus.h b/source/gameengine/Expressions/EXP_PyObjectPlus.h
@@ -36,9 +36,13 @@
 #define USE_WEAKREFS
 
 #include "EXP_Python.h"
+
+#include "BLI_utildefines.h" // For BLI_assert.
+
+#include "MT_Vector3.h"
+
 #include <string>
 #include <initializer_list>
-#include "MT_Vector3.h"
 #include <stddef.h>
 
 #ifdef WITH_PYTHON

diff --git a/source/gameengine/Ketsji/KX_GameObject.cpp b/source/gameengine/Ketsji/KX_GameObject.cpp
@@ -566,31 +566,28 @@ void KX_GameObject::ActivateGraphicController(bool recurse)
 	}
 }
 
-void KX_GameObject::SetUserCollisionGroup(unsigned short group)
+void KX_GameObject::SetCollisionGroup(unsigned short group)
 {
-	m_userCollisionGroup = group;
-	if (m_pPhysicsController)
+	if (m_pPhysicsController) {
+		m_pPhysicsController->SetCollisionGroup(group);
 		m_pPhysicsController->RefreshCollisions();
+	}
 }
-void KX_GameObject::SetUserCollisionMask(unsigned short mask)
+void KX_GameObject::SetCollisionMask(unsigned short mask)
 {
-	m_userCollisionMask = mask;
-	if (m_pPhysicsController)
+	if (m_pPhysicsController) {
+		m_pPhysicsController->SetCollisionMask(mask);
 		m_pPhysicsController->RefreshCollisions();
+	}
 }
 
-unsigned short KX_GameObject::GetUserCollisionGroup()
-{
-	return m_userCollisionGroup;
-}
-unsigned short KX_GameObject::GetUserCollisionMask()
+unsigned short KX_GameObject::GetCollisionGroup() const
 {
-	return m_userCollisionMask;
+	return m_pPhysicsController ? m_pPhysicsController->GetCollisionGroup() : 0;
 }
-
-bool KX_GameObject::CheckCollision(KX_GameObject* other)
+unsigned short KX_GameObject::GetCollisionMask() const
 {
-	return this->m_userCollisionGroup & other->m_userCollisionMask;
+	return m_pPhysicsController ? m_pPhysicsController->GetCollisionMask() : 0;
 }
 
 EXP_Value* KX_GameObject::GetReplica()
@@ -2361,7 +2358,7 @@ int KX_GameObject::pyattr_set_collisionCallbacks(EXP_PyObjectPlus *self_v, const
 PyObject *KX_GameObject::pyattr_get_collisionGroup(EXP_PyObjectPlus *self_v, const EXP_PYATTRIBUTE_DEF *attrdef)
 {
 	KX_GameObject* self = static_cast<KX_GameObject*>(self_v);
-	return PyLong_FromLong(self->GetUserCollisionGroup());
+	return PyLong_FromLong(self->GetCollisionGroup());
 }
 
 int KX_GameObject::pyattr_set_collisionGroup(EXP_PyObjectPlus *self_v, const EXP_PYATTRIBUTE_DEF *attrdef, PyObject *value)
@@ -2379,14 +2376,14 @@ int KX_GameObject::pyattr_set_collisionGroup(EXP_PyObjectPlus *self_v, const EXP
 		return PY_SET_ATTR_FAIL;
 	}
 
-	self->SetUserCollisionGroup(val);
+	self->SetCollisionGroup(val);
 	return PY_SET_ATTR_SUCCESS;
 }
 
 PyObject *KX_GameObject::pyattr_get_collisionMask(EXP_PyObjectPlus *self_v, const EXP_PYATTRIBUTE_DEF *attrdef)
 {
 	KX_GameObject* self = static_cast<KX_GameObject*>(self_v);
-	return PyLong_FromLong(self->GetUserCollisionMask());
+	return PyLong_FromLong(self->GetCollisionMask());
 }
 
 int KX_GameObject::pyattr_set_collisionMask(EXP_PyObjectPlus *self_v, const EXP_PYATTRIBUTE_DEF *attrdef, PyObject *value)
@@ -2404,7 +2401,7 @@ int KX_GameObject::pyattr_set_collisionMask(EXP_PyObjectPlus *self_v, const EXP_
 		return PY_SET_ATTR_FAIL;
 	}
 
-	self->SetUserCollisionMask(val);
+	self->SetCollisionMask(val);
 	return PY_SET_ATTR_SUCCESS;
 }
 
@@ -3840,7 +3837,7 @@ bool KX_GameObject::RayHit(KX_ClientObjectInfo *client, KX_RayCast *result, RayC
 	// if X-ray option is selected, the unwnted objects were not tested, so get here only with true hit
 	// if not, all objects were tested and the front one may not be the correct one.
 	if ((rayData->m_xray || rayData->m_prop.empty() || hitKXObj->GetProperty(rayData->m_prop) != nullptr) && 
-		hitKXObj->GetUserCollisionGroup() & rayData->m_mask)
+		hitKXObj->GetCollisionGroup() & rayData->m_mask)
 	{
 		rayData->m_hitObject = hitKXObj;
 		return true;
@@ -3868,7 +3865,7 @@ bool KX_GameObject::NeedRayCast(KX_ClientObjectInfo *client, RayCastData *rayDat
 	// if X-Ray option is selected, skip object that don't match the criteria as we see through them
 	// if not, test all objects because we don't know yet which one will be on front
 	if ((!rayData->m_xray || rayData->m_prop.size() || hitKXObj->GetProperty(rayData->m_prop) != nullptr) && 
-		hitKXObj->GetUserCollisionGroup() & rayData->m_mask)
+		hitKXObj->GetCollisionGroup() & rayData->m_mask)
 	{
 		return true;
 	}

diff --git a/source/gameengine/Ketsji/KX_GameObject.h b/source/gameengine/Ketsji/KX_GameObject.h
@@ -114,10 +114,6 @@ class KX_GameObject : public SCA_IObject
 	bool								m_bIsNegativeScaling;
 	MT_Vector4							m_objectColor;
 
-	// Bit fields for user control over physics collisions
-	unsigned short						m_userCollisionGroup;
-	unsigned short						m_userCollisionMask;
-
 	// visible = user setting
 	// culled = while rendering, depending on camera
 	bool       							m_bVisible; 
@@ -486,18 +482,14 @@ class KX_GameObject : public SCA_IObject
 	/** Set the object's collison group
 	 * \param filter The group bitfield
 	 */
-	void SetUserCollisionGroup(unsigned short filter);
+	void SetCollisionGroup(unsigned short filter);
 
 	/** Set the object's collison mask
 	 * \param filter The mask bitfield
 	 */
-	void SetUserCollisionMask(unsigned short mask);
-	unsigned short GetUserCollisionGroup();
-	unsigned short GetUserCollisionMask();
-	/**
-	 * Extra broadphase check for user controllable collisions
-	 */
-	bool CheckCollision(KX_GameObject *other);
+	void SetCollisionMask(unsigned short mask);
+	unsigned short GetCollisionGroup() const;
+	unsigned short GetCollisionMask() const;
 
 	/**
 	 * \section Coordinate system manipulation functions

diff --git a/source/gameengine/Ketsji/KX_MouseFocusSensor.cpp b/source/gameengine/Ketsji/KX_MouseFocusSensor.cpp
@@ -209,7 +209,7 @@ bool KX_MouseFocusSensor::NeedRayCast(KX_ClientObjectInfo *client, void *UNUSED(
 	}
 
 	// The current object is not in the proper layer.
-	if (!(hitKXObj->GetUserCollisionGroup() & m_mask)) {
+	if (!(hitKXObj->GetCollisionGroup() & m_mask)) {
 		return false;
 	}
 

diff --git a/source/gameengine/Ketsji/KX_RaySensor.cpp b/source/gameengine/Ketsji/KX_RaySensor.cpp
@@ -168,7 +168,7 @@ bool KX_RaySensor::NeedRayCast(KX_ClientObjectInfo *client, void *UNUSED(data))
 	}
 
 	// The current object is not in the proper layer.
-	if (!(hitKXObj->GetUserCollisionGroup() & m_mask)) {
+	if (!(hitKXObj->GetCollisionGroup() & m_mask)) {
 		return false;
 	}
 

diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -1105,6 +1105,11 @@ void CcdPhysicsController::SetMass(MT_Scalar newmass)
 	}
 }
 
+float CcdPhysicsController::GetInertiaFactor() const
+{
+	return m_cci.m_inertiaFactor;
+}
+
 // physics methods
 void CcdPhysicsController::ApplyTorque(const MT_Vector3&  torquein, bool local)
 {
@@ -1270,6 +1275,26 @@ void CcdPhysicsController::SetActive(bool active)
 {
 }
 
+unsigned short CcdPhysicsController::GetCollisionGroup() const
+{
+	return m_cci.m_collisionGroup;
+}
+
+unsigned short CcdPhysicsController::GetCollisionMask() const
+{
+	return m_cci.m_collisionMask;
+}
+
+void CcdPhysicsController::SetCollisionGroup(unsigned short group)
+{
+	m_cci.m_collisionGroup = group;
+}
+
+void CcdPhysicsController::SetCollisionMask(unsigned short mask)
+{
+	m_cci.m_collisionMask = mask;
+}
+
 float CcdPhysicsController::GetLinearDamping() const
 {
 	const btRigidBody *body = GetRigidBody();
@@ -1464,12 +1489,13 @@ void CcdPhysicsController::AddCompoundChild(PHY_IPhysicsController *child)
 	proxyShapeInfo->Release();
 	// remember we created this shape
 	childCtrl->m_bulletChildShape = newChildShape;
-	// recompute inertia of parent
+
+	// Recalculate inertia for object owning compound shape.
 	if (!rootBody->isStaticOrKinematicObject()) {
 		btVector3 localInertia;
 		float mass = 1.0f / rootBody->getInvMass();
 		compoundShape->calculateLocalInertia(mass, localInertia);
-		rootBody->setMassProps(mass, localInertia);
+		rootBody->setMassProps(mass, localInertia * m_cci.m_inertiaFactor);
 	}
 	// must update the broadphase cache,
 	GetPhysicsEnvironment()->RefreshCcdPhysicsController(this);
@@ -1523,7 +1549,7 @@ void CcdPhysicsController::RemoveCompoundChild(PHY_IPhysicsController *child)
 		btVector3 localInertia;
 		float mass = 1.f / rootBody->getInvMass();
 		compoundShape->calculateLocalInertia(mass, localInertia);
-		rootBody->setMassProps(mass, localInertia);
+		rootBody->setMassProps(mass, localInertia * m_cci.m_inertiaFactor);
 	}
 	// must update the broadphase cache,
 	GetPhysicsEnvironment()->RefreshCcdPhysicsController(this);

diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
@@ -279,6 +279,8 @@ struct CcdConstructionInfo {
 		m_bGimpact(false),
 		m_collisionFilterGroup(DefaultFilter),
 		m_collisionFilterMask(AllFilter),
+		m_collisionGroup(0xFFFF),
+		m_collisionMask(0xFFFF),
 		m_collisionShape(nullptr),
 		m_MotionState(nullptr),
 		m_shapeInfo(nullptr),
@@ -400,6 +402,9 @@ struct CcdConstructionInfo {
 	short int m_collisionFilterGroup;
 	short int m_collisionFilterMask;
 
+	unsigned short m_collisionGroup;
+	unsigned short m_collisionMask;
+
 	/** these pointers are used as argument passing for the CcdPhysicsController constructor
 	 * and not anymore after that
 	 */
@@ -683,6 +688,8 @@ class CcdPhysicsController : public PHY_IPhysicsController
 	virtual MT_Scalar GetMass();
 	virtual void SetMass(MT_Scalar newmass);
 
+	float GetInertiaFactor() const;
+
 	// physics methods
 	virtual void ApplyImpulse(const MT_Vector3& attach, const MT_Vector3& impulsein, bool local);
 	virtual void ApplyTorque(const MT_Vector3& torque, bool local);
@@ -692,6 +699,11 @@ class CcdPhysicsController : public PHY_IPhysicsController
 	virtual void Jump();
 	virtual void SetActive(bool active);
 
+	virtual unsigned short GetCollisionGroup() const;
+	virtual unsigned short GetCollisionMask() const;
+	virtual void SetCollisionGroup(unsigned short group);
+	virtual void SetCollisionMask(unsigned short mask);
+
 	virtual float GetLinearDamping() const;
 	virtual float GetAngularDamping() const;
 	virtual void SetLinearDamping(float damping);
@@ -806,8 +818,6 @@ class CcdPhysicsController : public PHY_IPhysicsController
 
 	static btTransform GetTransformFromMotionState(PHY_IMotionState *motionState);
 
-	void setAabb(const btVector3& aabbMin, const btVector3& aabbMax);
-
 	class PHY_IMotionState *GetMotionState()
 	{
 		return m_MotionState;